Re: A robot simulator

On Fri, 27 Jun 2003, Leopold Palomo Avellaneda wrote:

[...]
> > Ok, that is "file based" interaction :-) I was thinking about the
> > opposite way: building a chaing graphically, and then saving to a
> > file.
> 
> I thouhgt to divide the application in two. One a designer (the program that 
> you said) and another the simulator, but this is just an idea.

Both should be closely integrated...

> > (BTW, don't use DH parameters, this is old technology with too many
> > drawbacks...)
> 
> Ok, it's true. Do you recomend some nomeclature? 
Just homogeneous transformation matrices. Or the "TCS" (travelling
coordinate system), which is however nothing else but normal common
sense. In general, I prefer to allow multiple interfaces for the user,
and internally store everything in the most singularity-free
representation, which are the ones I mentioned above. (or, rather, in
a "symbolic" form that describes the geometric relationships with more
than just pure coordinates).

Herman

-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480